Rapid tuning method for unmanned underwater vehicle course control parameters

Abstract

The invention provides a rapid tuning method for unmanned underwater vehicle course control parameters. The method specifically comprises the following steps that a rapid tuning system for unmanned underwater vehicle course control parameters is constructed, wherein the system comprises an unmanned underwater vehicle, a ground station, a ground data transmission radio and a remote controller; theground station sends measuring control data to the unmanned underwater vehicle through the ground data transmission radio; remote control data is sent to the unmanned underwater vehicle through the remote controller; the unmanned underwater vehicle is controlled by the measuring control data and the remote control data to sail in water, and remote sensing data is fed back to the ground station; the ground station utilizes the tuning principle according to the remote sensing data for optimizing and tuning control parameters. According to the rapid tuning method for the unmanned underwater vehicle course control parameters, the method performs high integration on the parameter tuning and control system, parameter tuning and instruction data transceiving are performed through the wireless radio, sailing speed control is performed through remote control, repeated control software modification and repeated experiment preparation are avoided, and the parameter tuning efficiency is remarkablyimproved.

Description

Technical field [0001] The invention belongs to the technical field of unmanned vehicles, and specifically relates to a method for quickly setting the heading control parameters of the unmanned submarine. Background technique [0002] As an underwater intelligent equipment, unmanned submersibles can navigate autonomously in harsh marine environments and carry a variety of mission loads. Their uses cover marine surveys, submarine exploration, marine environmental reconnaissance and underwater operations, and become the ocean An important force of engineering equipment, with broad application value, is the current research focus of offshore equipment. [0003] The most important feature of unmanned submersibles is that they can navigate autonomously in accordance with pre-set routes. Course keeping and tracking control are the key to autonomous navigation. In engineering, PID (proportional-integral-derivative) control structures are often used. The size, weight, system configuration...

AI Technical Summary

Problems solved by technology

Due to the lack of functional consideration of parameter setting in the process of system design and software design of unmanned submersibles, repeated test voyages and frequent modification of control software in the process of parameter setting, the setting process is cumbersome and time-consuming, and at the same time, there is a lack of systematic guiding principles Parameter optimization makes it difficult for the heading angle response performance to meet the index requirements

Invention patent CN 102621883 proposes an identification model and a parameter setting method for step-by-step adjustment for industrial process control. Invention patent CN103439880 proposes a PID parameter setting method based on the MCP standard transfer function. These methods need to identify the model first, and the response index is difficult to meet. Only suitable for rough tuning of control parameters

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